Hand grip apparatus for receiving operator input in a robotic surgery system

ABSTRACT

A hand grip apparatus for receiving operator input includes a body having a proximal end and a distal interface end for coupling to an input apparatus. A first control lever is attached to the body and extends away from the proximal end and terminates in a finger grip for receiving one of the operator&#39;s fingers. A second control lever is attached to the body and extends away from the proximal end terminating in a thumb grip for receiving the operator&#39;s thumb. Movement of at least one of the control levers is operable to produce a first control signal representing the movement. An input control is included on the body between the grip ends and has an actuator surface angled towards the finger grip end and configured to produce a second control signal in response to actuation by one of the operator&#39;s fingers.

CROSS-REFERENCE TO RELATED APPLICATION

This application is a U.S. National Phase Application under 35 U.S.C.371 of International Application No. PCT/CA2016/000112 filed on Apr. 13,2016 and published as WO 2016/201544 A1 on Dec. 22, 2016. Thisapplication is based on and claims the benefit of priority from U.S.Provisional Application No. 62/180,312, filed Jun. 16, 2015. The entiredisclosures of all of the above applications are incorporated herein byreference.

BACKGROUND 1. Field

This disclosure relates generally to robotic surgery systems and moreparticularly to a hand grip apparatus for receiving operator input forcontrolling the robotic surgery system to perform surgical procedures.

2. Description of Related Art

Robotic surgery systems generally include an operator interface thatreceives operator input from a surgeon and causes correspondingmovements of surgical tools within a body cavity of a patient to performa surgical procedure. For example, the operator may grasp and move ahand grip while the operator interface senses movements of the handgrip. The operator interface and hand grip may operate to sense inputsresponsive to movement of the operator's hand in several differentdegrees of freedom, thus providing inputs for causing the surgical toolto mimic movements of the operator's hand. Additional movements such asopening and closing of jaws of an end effector associated with thesurgical tool may also be initiated in response to additional operatorinputs received at the operator interface.

SUMMARY

In accordance with one disclosed aspect there is provided a hand gripapparatus for receiving operator input for controlling a surgical toolin a robotic surgery system. The apparatus includes a generally tubularbody having a proximal end shaped to be grasped by a hand of theoperator and a distally located interface end operably configured to becoupled to an input apparatus for controlling the surgical tool. Theapparatus also includes a first control lever attached to the body at afirst pivot joint and extending along the body away from the proximalend, the first control lever terminating in a finger grip end configuredto receive one of the operator's fingers, the first control lever beinglaterally moveable away from the body about the first pivot joint. Theapparatus further includes a second control lever attached to the bodyat a second pivot joint on a generally opposing side of the body to thefirst pivot joint, the second control lever extending along the bodyaway from the proximal end and terminating in a thumb grip endconfigured to receive the operator's thumb, the second control leverbeing laterally moveable away from the body about the second pivotjoint. Movement of at least one of the first and second control leversis operable to produce a first control signal representing the movement.The apparatus also includes an input control on an upper surface of thebody and generally interposed between the finger and thumb grip ends,the input control having an actuator surface that is angled towards thefinger grip end and being operably configured to produce a secondcontrol signal in response to actuation of the actuator surface by oneof the operator's fingers.

The first control signal may include an electrical control signal andthe apparatus may further include a sensor for producing the electricalcontrol signal in response to lateral movement of at least one of thefirst and second control levers.

The first control signal may include a mechanical movement of a linkagecoupled to at least one of the first and second control levers.

The actuator surface of the input control may be oriented such that theoperator's knuckles will be generally parallel to the actuator surfacewhen grasped by the hand of the operator in a generally neutralposition.

The control button may be surrounded by a land disposed generallyparallel to the actuator surface of the input control.

The first and second pivot joints may be spaced apart on the body by adistance corresponding to a distance between the metacarpophalangealjoints of the thumb and index finger of an average operator.

The first and second control levers may be sized such that when graspedby the hand of an average operator, the finger grip end and thumb gripend on the respective levers are positioned to receive distal phalangesof the operator's finger and thumb.

The finger grip may be configured to receive the operator's indexfinger, and the actuator surface of the input control may be angled tobe actuated by the index finger moving between the finger grip and theinput control.

The finger grip may be configured to receive the operator's middlefinger, and the actuator surface of the input control may be angled tobe actuated by the index finger.

The proximal end of the body may be configured to receive one of aplurality of different removable end caps, the removable end capfacilitating configuration of the apparatus in accordance with theoperator's preference.

The proximal end of the body may have a rounded shape operable toreceive and support a portion of the operator's palm when the body isgrasped in the hand of the operator.

The proximal end of the body may be angled with respect to the tubularbody.

The tubular body may have a neck portion interposed between the proximalend and the interface end, the neck portion having reduced crosssectional extent with respect to the proximal end.

The first and second control levers may be mechanically coupled suchthat movement of one of the control levers causes a correspondingopposing lateral movement of the other of the control levers.

The first and second control levers may be mounted to constrain thelateral movement of each of the levers to a range corresponding to anergonomically comfortable lateral movement of the thumb and finger of anaverage operator.

At least one of the finger and thumb grip ends may include a retainingloop operably configured to retain the operator's finger or thumb foractuating the respective levers.

The retaining loop associated with the first control lever may include aloop portion and an open portion, the open portion being disposed topermit lateral movement of the operator's finger between the finger gripand the input control.

The retaining loop of the at least one of the finger and thumb grip endsmay be oriented downwardly at an angle corresponding to a naturalorientation of the operator's thumb or finger when the body is graspedsuch that the operator's palm rests on an upper surface of the body.

Each of the first and second control levers may be disposed withinrespective sculpted portions on generally opposing sides of the body,each extending forwardly from the proximal end toward the interface end,the respective sculpted portions being operable to receive theoperator's finger and thumb when the body is grasped from behind theproximal end.

The apparatus may include at least one proximity sensor disposed tosense one of the operator's hand grasping the hand grip apparatus, and aposition of the operator's hand with respect to the tubular body.

In accordance with another disclosed aspect there is provided a methodfor receiving operator input in a robotic surgery system. The methodinvolves receiving a hand of the operator at a generally tubular bodyhaving a proximal end shaped for to be grasped by the operator's hand,the tubular body having a distally located interface end operablyconfigured to be coupled to the input apparatus. The method alsoinvolves receiving one of the operator's fingers in a finger grip end ofa first control lever attached to the body at a first pivot joint andextending along the body away from the proximal end, the first controllever being laterally moveable away from the body about the first pivotjoint. The method further involves receiving the operator's thumb in athumb grip end of a second control lever attached to the body at asecond pivot joint on a generally opposing side of the body to the firstpivot joint, the second control lever extending along the body away fromthe proximal end and being laterally moveable away from the body aboutthe second pivot joint. The method also involves receiving one of theoperator's fingers at an input control on an upper surface of the bodyand generally interposed between the finger and thumb grip ends, theinput control having an actuator surface that is angled towards thefinger grip end. The method further involves producing a first controlsignal at the interface in response to lateral opening and closingmovements of the operator's finger and thumb causing correspondinglateral movement of the first and second control levers, and producing asecond control signal at the interface end in response to actuation ofthe input control.

The method may involve receiving the first control signal at an inputapparatus for controlling a surgical tool, the first control signalbeing operable to control opening and closing functions open of a jaw ofan end effector associated with the surgical tool.

The method may involve receiving the second control signal at an inputapparatus for controlling a surgical tool, the second control signalbeing operable to control additional functions associated with thesurgical tool.

The additional functions may include one of supply of an electricalcurrent through the jaws of the surgical tool for electro-cauterizationof tissue, and functions associated with a surgical viewing system forgenerating views of a surgical site.

The method may involve receiving a signal from at least one proximitysensor disposed to sense one of the operator's hand grasping the handgrip apparatus and a position of the operator's hand with respect to thetubular body.

Other aspects and features of the present invention will become apparentto those ordinarily skilled in the art upon review of the followingdescription of specific embodiments of the invention in conjunction withthe accompanying figures.

BRIEF DESCRIPTION OF THE DRAWINGS

In drawings which illustrate embodiments of the invention,

FIG. 1A is a right side perspective view of a hand grip apparatus inaccordance with one disclosed embodiment;

FIG. 1B is a left side perspective view of the hand grip apparatus shownin FIG. 1A;

FIG. 2 is a perspective view of an input apparatus including the handgrip shown in FIG. 1;

FIG. 3A is a front view of the hand grip shown in FIG. 1 being graspedby an operator's hand;

FIG. 3B is a side view of the hand grip shown in FIG. 1 being grasped bythe operator's hand;

FIG. 4A is a top cutaway view of the hand grip apparatus shown in FIG. 1with first and second levers in a closed state;

FIG. 4B is a top cutaway view of the hand grip apparatus shown in FIG. 1with first and second levers in an open state;

FIG. 5 is a right side perspective view of a hand grip apparatus inaccordance with an alternative disclosed embodiment;

FIG. 6 is a right side perspective view of a hand grip apparatus inaccordance with another disclosed embodiment;

FIG. 7A is a right side perspective view of a hand grip apparatus inaccordance with yet another disclosed embodiment;

FIG. 7B is a left side perspective view of a hand grip apparatus shownin FIG. 7A;

FIG. 8 is a side view of the hand grip shown in FIGS. 7A and 7B beinggrasped by an operator's hand; and

FIG. 9 is a pictorial representation of a robotic surgery systemaccording to one disclosed embodiment.

DETAILED DESCRIPTION

Referring to FIGS. 1A and 1B, a hand grip apparatus according to a firstembodiment of the invention is shown generally at 100. The hand grip 100is shown in a right side perspective view in FIG. 1A and a left sideperspective view in FIG. 1B. The hand grip 100 includes a generallytubular body 102 having a proximal end 104 shaped to be grasped by ahand of an operator. In the embodiment shown the proximal end 104 of thebody has a rounded shape operable to receive and support a portion ofthe operator's palm when the body 102 is grasped in the hand of theoperator.

The hand grip 100 also includes a distally located interface end 106.Referring to FIG. 2, the interface end 106 of the hand grip apparatus100 is configured for coupling to an input apparatus 200 for controllinga surgical tool associated with a robotic surgery system (not shown).The input apparatus 200 includes an output 202 for producing signals inresponse to movements of the operator's hand 204. In one embodiment, thesurgical tool may include an articulated tool positioner as described indetail in commonly owned patent application PCT/CA2013/001076 entitled“ARTICULATED TOOL POSITIONER AND SYSTEM EMPLOYING SAME”, which isincorporated herein by reference. The input apparatus 200 may beimplemented using one of the Omega series of haptic devices availablefrom Force Dimension, of Switzerland, for example.

The input apparatus 200 and hand grip apparatus 100 are configured foroperation by a right hand of the operator and in practice a left handinput apparatus and hand grip will also be provided. The left hand gripmay be configured as a mirror image of the right hand grip 100 shown inFIG. 1, but may also be differently configured depending on the natureof the task the apparatus is to control.

Referring back to FIG. 1A, the hand grip 100 also includes a firstcontrol lever 108 attached to the body 102 at a first pivot joint 110.The first control lever 108 extends along the body 102 away from theproximal end 104. The first control lever 108 terminates in a fingergrip end 112 configured to receive one of the operator's fingers. In theembodiment shown the finger grip end 112 is configured as a retainingloop having a loop portion 132 and an open portion 134. The loop portion132 is configured to retain the operator's finger while the open portion134 allows the operator's finger to be easily removed from the fingergrip end 112 to permit independent lateral movement of the operator'sfinger. Referring to FIG. 1B, the hand grip 100 also includes a secondcontrol lever 114 attached to the body 102 at a second pivot joint 116on a generally opposing side of the body to the first pivot joint. Thesecond control lever 114 also extends along the body away from theproximal end 104. The second control lever 114 terminates in a thumbgrip end 118 configured to receive the operator's thumb.

The first control lever 108 and the second control lever 114 are shownin an open position in FIG. 1A and in a closed position in FIG. 1B.Referring to FIG. 1A, in the embodiment shown the body 102 includes acutout portion 120 for receiving the first control lever 108 when thefirst control lever is in the closed position. Referring to FIG. 1B, thebody 102 also includes a cutout portion 119 and the lever 108 isreceived in the cutout such that a surface the lever is generallycontiguous with surfaces of the body when the lever is in the closedposition. The first control lever 108 is laterally moveable away fromthe body 102 about the first pivot joint 110 and the second controllever 114 is laterally moveable away from the body about the secondpivot joint 116.

Referring to FIG. 2, the operator's index finger 206 is shown engagingthe finger grip end 112 and the operator's thumb 208 is shown engagingthe thumb grip end 118 of the second control lever 114. The operator isable to open and close the first and second control levers 108 and 114by making pincer movements with the index finger and thumb respectively.The first and second control levers 108 and 114 are sized such that whengrasped by the hand 204 of an average operator, the finger grip end 112and thumb grip end 118 on the respective levers are positioned toreceive distal phalanges of the operator's finger 206 and thumb 208. Inthis embodiment the thumb grip end 118 is also configured as a retainingloop having a loop portion 136 and an open portion 138 and the loopportion is configured to retain the operator's thumb. Alternatively, thethumb grip end 118 may be configured as a closed loop in applicationswhere it is not necessary for the operator to frequently remove thethumb from the grip end.

The body 102 of the hand grip 100 includes a neck portion 103 portioninterposed between the proximal end 104 and the interface end 106, theneck portion having a reduced cross sectional extent with respect to theproximal end 104. The neck portion 103 and the proximal end 104 togetherprovide a bulb shaped grip, which when grasped from behind by theoperator's hand is easily and comfortably retained.

The hand grip 100 also includes an input control 122 on an upper surfaceof the body 102. The input control 122 is generally interposed betweenthe finger grip end 112 and thumb grip end 118 and has an actuatorsurface 126 that is angled towards the finger grip end for actuation byone of the operator's fingers. The operator's hand 204 is shown graspingthe hand grip 100 in FIGS. 3A and 3B. Referring to FIG. 3A, the angledactuator surface 126 of the input control 122 is comfortably located foractuation by the operator moving the index finger 206 from the fingergrip end 112 to the input control 122. Alternatively, the operator mayhave a preference for operating the first control lever 108 using asmiddle finger, while the index finger 206 is held on or near theactuator surface 126 of the input control 122. In the embodiment shownthe actuator surface 126 of the input control is oriented at an angle αsuch that the operator's knuckles 220 and 222 are generally parallel tothe actuator surface 126 when the hand grip 100 is grasped by theoperator's hand 204 in a generally neutral position. In one embodimentthe angle α may be between about 20° and 30°. The neutral position ofthe hand 204 is a position in which there is a minimum of stress placedon the operator's wrist, forearm and shoulder, i.e. a comfortableposition that does not induce undue fatigue.

Referring to FIG. 3B, in this embodiment when the operator's hand graspsthe hand grip 100 over the top of the body 102, the palm of theoperator's hand 204 rests generally on an upper surface at the proximalend 104 of the body. The thumb grip end 118 is also angled downwardly atan angle θ when the body 102 is held in a horizontal orientation alignedwith a horizontal axis 210. The angle θ is selected to correspond to anatural orientation of the thumb 208 when the operator's hand 204 is ina generally unstressed manner and the thumb engages the retaining loopportion of the thumb grip end 118. The finger grip end 112 may besimilarly oriented at an angle corresponding to a natural orientation ofthe operator's finger when engaging the retaining loop portion of thefinger grip 112 (not visible in FIG. 3B). In one embodiment the angle θmay be between about 10° and 25° for the operator's thumb 208 andbetween about 15° and 28° for the operator's index finger 206.

Referring back to FIG. 1A, in the embodiment shown the input control 122is surrounded by a land 124, which is disposed generally parallel to theactuator surface 126 of the input control. The input control 122 may beconfigured to control any of a number of functions any of the surgicaltool or robotic surgery system. In the embodiment shown, the inputcontrol 122 is configured as a rocker button that is operable to controla first function when a forward area 128 of the input control is pressedby the operator's finger and a second function when a rearward area 130of the input control is pressed by the operator's finger. In otherembodiments the input control 122 may be implemented using an inputdevice or sensor configured to detect various user inputs, for example atrackpad or touchpad, track ball, joystick, optical sensor, or thermalsensor. The input control 122 is configured to produce a control signalin response to for actuation of the actuator surface by one of theoperator's fingers. In one embodiment, the input control 122 may be usedto control operations of an illuminator and/or camera associated withthe robotic surgery system.

The hand grip 100 is shown in cutaway view in FIGS. 4A and 4B with aportion of an upper cover 250 removed to reveal mounting detailsassociated with the first and second control levers 108 and 114.Referring to FIG. 4A, the first control lever 108 includes a pivot end252 mounted on the first pivot joint 110 and an actuator arm 254extending generally laterally into the body 102 of the hand grip 100.Similarly, the second control lever 114 includes a pivot end 256 mountedon the second pivot joint 116 and an actuator arm 258 extendinggenerally laterally into the body 102 of the hand grip 100. The handgrip 100 further includes a linkage 260 including a slot 261. The handgrip 100 also includes a guide post 262, which is received in the slot261 and permits reciprocating movement of the linkage 260 in thedirection of arrow 268. The arms 254 and 256 are each coupled to adistal end 264 of the linkage 260 at a revolute joint 266, such thatmovement of either of the first or second control levers 108 or 114causes movement of the respective arm, in turn causing movement of thelinkage 260. Additionally movement of either one of the arms 254 and 256also causes a corresponding movement of the other of the arms. 12. Thefirst and second control levers 108 and 114 are thus mechanicallycoupled such that movement of one of the control levers causes acorresponding opposing lateral movement of the other of the controllevers. An extent of lateral movement of the first and second controllevers 108 and 114 is also constrained by the length of the slot 261. Inone embodiment, the slot 261 is sized to constrain movement of thelevers 108 and 114 to a range corresponding to an ergonomicallycomfortable lateral movement of the thumb 208 and finger 206 of anaverage operator.

Referring to FIG. 4B, outward lateral movement of either or both of thefirst and second control levers 108 and 114 thus causes the linkage 260to be advanced forwardly in the direction indicated by the arrow 268. Inthis embodiment, the hand grip 100 also includes a sensor 280 forproducing a first control signal in response to movement of the linkage260 caused by lateral movement of either of the first and second controllevers. The sensor 280 may be implemented using a linear encoder. Inother embodiments movement of the linkage 260 may be mechanicallycoupled through the body 102 and may mechanically interface with theinput apparatus 200.

Still referring to FIG. 4B the first and second pivot joints 110 and 116are spaced apart on the body by a distance D. In one embodiment, thespacing D between the pivot joints is selected to correspond to adistance (for an average operator) between the metacarpophalangealjoints associated with the thumb and index finger thus reducing strainon the operator's hand when operating the first and second controllevers 108 and 114. When the hand grip 100 is grasped in the operator'sright hand with the operator's finger 206 engaging the finger grip end112 and the operator's thumb 208 engaging the thumb grip end 118, themetacarpophalangeal joint of the thumb is located generally above thesecond pivot joint 116 and the metacarpophalangeal joint (i.e. theoperator's knuckle 220) of the finger is located generally above thefirst pivot joint 110. In a hand grip 100 configured for the operatorsleft hand, the thumb and finger grip ends 112 and 118 would be reversed.

Referring to FIG. 5, an alternative embodiment of a hand grip apparatusis shown generally at 300. The hand grip 300 has a body 302 generallyconfigured as shown in FIG. 1 but includes a proximal end 304 of thebody that is angled with respect to the tubular body. In the embodimentshown the proximal end 304 is angled in a generally lateral directionwith respect to the body 302 and is configured to provide a supportsurface for the operator's palm when grasping the hand grip 300.Referring to FIG. 6, another embodiment of the hand grip apparatus isshown generally at 320. In this embodiment the hand grip 320 includes aremovable end cap 324, which has a generally similar shape to theproximal end 104 shown in FIG. 1. The removable end cap 324 may be madeeasily removable by the operator to permit the operator to select an endcap in accordance with their personal preferences. The removable end cap324 is separable from the body 322 of the hand grip 320 and may beretained on the body by a snap connection, a fastener, or other securingmeans. For example, a set of end caps may be provided includingdifferent lengths of the removable end cap as shown at 324 and/ordifferent shapes of and cap, such as shape of the proximal end 304 shownin FIG. 5. The set end caps may be fabricated relatively inexpensivelyand permit configuration for a variety of hand sizes and operatorpreferences.

An alternative embodiment of a hand grip apparatus is shown generally at350 in FIG. 7. A right hand side of the body is shown in FIG. 7A and aleft hand side of the body is shown in FIG. 7B. Referring to FIG. 7A,the hand grip 350 includes a body 352 having a proximal end 354 and aninterface end 356. The hand grip 350 also includes first and secondcontrol levers 358 and 360 and an input control 362 as generallydescribed above in connection with the FIG. 1 embodiment. In thisembodiment, the body 352 of the hand grip 350 includes a sculptedlateral portion 364 and the first control lever 358 is disposed on thesculpted portion. Referring to FIG. 7B, the body 352 also includes asculpted lateral portion 366 and the second control lever 360 isdisposed on the sculpted portion. The sculpted portions 364 and 366 areoriented generally parallel to a longitudinal axis 370 of the body 352.Referring to FIG. 8, the generally parallel sculpted portions 364 and366 (only portion 366 is visible in FIG. 8) permit the operator to graspthe hand grip 350 from behind. In this embodiment, the palm of theoperator's hand 204 does not rest on top of the body 352 as described inconnection with the hand grip 100. Rather the palm of the operator'shand 204 is disposed behind and supported by the proximal end 354 of thehand grip 350. The proximal end 354 may be configured according to theoperator's preferences as described above in connection with FIG. 5 andFIG. 6. In the embodiment shown in FIGS. 7A, 7B and 8 the hand grip 350has a downwardly extending end cap portion while in other embodimentsthe hand grip may have a rounded end cap such as shown 324 in FIG. 6.

In the embodiment shown in FIG. 7B, the hand grip 350 includes aplurality of proximity sensors 372, 374, and 376 located on the secondcontrol lever 360. When the operator's hand 204 grasps the hand grip 350the operator's thumb 208 may be positioned forwardly or rearwardly withrespect to the body 352 depending on the operator's preference. Theproximity sensors 372-376 generate signals for detecting the position ofthe operator's thumb 208, which may be used to provide an indicationthat the hand grip 350 is being grasped by the operator's hand 204 andalso to provide information regarding the position of the operators handon body 352 the hand grip. The proximity sensors 372, 374, and 376 maybe implemented using any of a variety of proximity sensor types, forexample optical and/or capacitive sensors.

Referring to FIG. 9, a robotic surgery system is shown generally at 400.The robotic surgery system 400 includes an input console 402 and asurgical robot 404. The input console 402 includes the input apparatus200 and the hand grip apparatus 100 shown in FIG. 2 for operation by theoperator's right hand. The input console 402 also includes an inputapparatus 406 and a hand grip apparatus 408 for operation by anoperator's left hand. The input console 402 also includes an interface446 for generating control signals in response to movements andactuation of the input apparatus 200 and input apparatus 406 in responseto inputs provided by the operator at the respective hand grips 100 and408.

The surgical robot 404 includes a robotic actuator 410 carried on asurgical platform 412. The robotic actuator 410 controls surgical tools414 and 416, which may be inserted through an incision 418 in a bodywall 419 of a patient 420 to access to the surgical site (not shown)within a body cavity of the patient. The surgical tools 414 and 416 areshown in greater detail in the insert 422. In the embodiment shown thetools 414 and 416 each include a pair of opposing jaws 424 and 426. Theoperator, such as a surgeon for example, performs surgery on a patient420 by manipulating the first input apparatus 200 and the second inputapparatus 406 via the respective hand grips 100 and 408 on the inputconsole 402 to control movements and operations of the surgical tools414 and 416. The robotic actuator 410 is controlled by a processorcircuit 440, which receives control signals from the input console 402via a cable 442 or other interface. The processor circuit 440 interpretsthe control signals for controlling movements and operations of theviewing system 428 and the tools 414 and 416. For example, movements ofthe hand grips 100 and 408 are transmitted by the interface 446 to theprocessor circuit 440 and cause corresponding movements of the tools 414and 416. Exemplary tool positioning devices and tools for this purposeare described in PCT/CA2013/001076, which is incorporated herein byreference. Similarly, the operator also manipulates the control levers(i.e. 108 and 114 shown in FIG. 1A) to cause the jaws 424 and 426 toopen and close for performing surgical tasks such as grasping tissue,cutting, and cauterizing etc.

In embodiments that include the proximity sensors 372, 374 and 376, theproximity signals may be used to more precisely interpret the operatorinput based on the hand position of the operator on the hand grip 350.For example, if the user grasps the body 352 of the hand grip 350further back, the user inputs may be scaled to amplify smaller movementsby the operator's hand that are likely in this position.

In this embodiment, the surgical robot 404 also includes a viewingsystem 428, which may include an illuminator for illuminating thesurgical site within the body cavity of the patient 420 and a camera forgenerating image signals. Image signals received from the viewing systemare transmitted by the processor circuit 440 back to the input console402. The input console 402 also includes a display 444 for displaying animage of the surgical site for the operator.

In one embodiment the input console 402 produces a first control signalat the interface 446 in response to lateral opening and closingmovements of the operator's finger and thumb causing correspondinglateral movement of the first and second control levers. Signalsrepresenting the movements are transmitted via the cable 442 and arereceived and interpreted by the processor circuit 440, which producessignals for controlling the opening and closing of the respective pairof opposing jaws 424 and 426 of the tools 414 and 416. Actuation of theinput control 122 similarly produces a second control signal, which isreceived by the processor circuit 440 and interpreted to produce signalsfor controlling the viewing system 428. For example, activation of theforward area 128 of the input control 122 may cause the camera to zoomin on the surgical site while actuation of the rearward area 130 maycause the camera to zoom out.

The embodiments of the hand grips 100, 300, and 350 described aboveprovide an ergonomic interface between the operator and the inputapparatus 200, 406 for receiving operator input. The respective bodiesof the hand grips are shaped and configured to permit the operator tograsp the hand grips in a comfortable and strain fee manner, thusreducing operator fatigue.

While specific embodiments have been described and illustrated, suchembodiments should be considered illustrative of the invention only andnot as limiting the invention as construed in accordance with theaccompanying claims.

What is claimed is:
 1. A hand grip apparatus for receiving operatorinput for controlling a surgical tool in a robotic surgery system, theapparatus comprising: a generally tubular body having a proximal endshaped to be grasped by a hand of the operator and a distally locatedinterface end operably configured to be coupled to an input apparatusfor controlling the surgical tool; a first control lever attached to thebody at a first pivot joint and extending along the body away from theproximal end, the first control lever terminating in a finger grip endconfigured to receive one of the operator's fingers, the first controllever being laterally moveable away from the body about the first pivotjoint; a second control lever attached to the body at a second pivotjoint on a generally opposing side of the body to the first pivot joint,the second control lever extending along the body away from the proximalend and terminating in a thumb grip end configured to receive theoperator's thumb, the second control lever being laterally moveable awayfrom the body about the second pivot joint, wherein movement of at leastone of the first and second control levers is operable to produce afirst control signal representing the movement; and an input control onan upper surface of the body and generally interposed between the fingerand thumb grip ends, the input control having an actuator surface thatis angled towards the finger grip end and being operably configured toproduce a second control signal in response to actuation of the actuatorsurface by one of the operator's fingers, wherein the proximal end ofthe body is configured to receive one of a plurality of differentremovable end caps, the removable end cap facilitating configuration ofthe apparatus in accordance with the operator's preference.
 2. Theapparatus of claim 1 wherein the first control signal comprises anelectrical control signal and further comprising a sensor for producingthe electrical control signal in response to lateral movement of atleast one of the first and second control levers.
 3. The apparatus ofclaim 1 wherein movement of the at least one of the first and secondcontrol levers causes a mechanical movement of a linkage coupled to atleast one of the first and second control levers, the first controlsignal produced in response to the movement of the linkage.
 4. Theapparatus of claim 1 wherein the actuator surface of the input controlis oriented such that the operator's knuckles will be generally parallelto the actuator surface when grasped by the hand of the operator in agenerally neutral position.
 5. The apparatus of claim 1 wherein theinput control is surrounded by a land disposed generally parallel to theactuator surface of the input control.
 6. The apparatus of claim 1wherein the first and second pivot joints are spaced apart on the bodyby a distance corresponding to a distance between themetacarpophalangeal joints of the thumb and index finger of an operator.7. The apparatus of claim 1 wherein the first and second control leversare sized such that when grasped by the hand of an operator, the fingergrip end and thumb grip end on the respective levers are positioned toreceive distal phalanges of the operator's finger and thumb.
 8. Theapparatus of claim 1 wherein: the finger grip is configured to receivethe operator's index finger; and the actuator surface of the inputcontrol is angled to be actuated by the index finger moving between thefinger grip and the input control.
 9. The apparatus of claim 1 wherein:the finger grip is configured to receive the operator's middle finger;and the actuator surface of the input control is angled to be actuatedby the index finger.
 10. The apparatus of claim 1 wherein the proximalend of the body has a rounded shape operable to receive and support aportion of the operator's palm when the body is grasped in the hand ofthe operator.
 11. The apparatus of claim 10 wherein the proximal end ofthe body is angled with respect to the tubular body.
 12. The apparatusof claim 10 wherein the tubular body has a neck portion interposedbetween the proximal end and the interface end, the neck portion havingreduced cross sectional extent with respect to the proximal end.
 13. Theapparatus of claim 1 wherein the first and second control levers aremechanically coupled such that movement of one of the control leverscauses a corresponding opposing lateral movement of the other of thecontrol levers.
 14. The apparatus of claim 1 wherein the first andsecond control levers are mounted to constrain the lateral movement ofeach of the levers to a range corresponding to an ergonomicallycomfortable lateral movement of the thumb and finger of an operator. 15.The apparatus of claim 1 wherein at least one of the finger and thumbgrip ends comprises a retaining loop operably configured to retain theoperator's finger or thumb for actuating the respective levers.
 16. Theapparatus of claim 15 wherein the retaining loop associated with thefirst control lever comprises a loop portion and an open portion, theopen portion being disposed to permit lateral movement of the operator'sfinger between the finger grip and the input control.
 17. The apparatusof claim 15 wherein the retaining loop of the at least one of the fingerand thumb grip ends is oriented downwardly at an angle corresponding toa natural orientation of the operator's thumb or finger when the body isgrasped such that the operator's palm rests on an upper surface of thebody.
 18. The apparatus of claim 1 wherein each of the first and secondcontrol levers are disposed within respective sculpted portions ongenerally opposing sides of the body, each extending forwardly from theproximal end toward the interface end, the respective sculpted portionsbeing operable to receive the operator's finger and thumb when the bodyis grasped from behind the proximal end.
 19. The apparatus of claim 1further comprising at least one proximity sensor disposed to sense oneof: the operator's hand grasping the hand grip apparatus; and a positionof the operator's hand with respect to the tubular body.
 20. A methodfor receiving operator input in a robotic surgery system, the methodcomprising: receiving a hand of the operator at a generally tubular bodyhaving a proximal end shaped for to be grasped by the operator's hand,the tubular body having a distally located interface end operablyconfigured to be coupled to the input apparatus; receiving one of theoperator's fingers in a finger grip end of a first control leverattached to the body at a first pivot joint and extending along the bodyaway from the proximal end, the first control lever being laterallymoveable away from the body about the first pivot joint; receiving theoperator's thumb in a thumb grip end of a second control lever attachedto the body at a second pivot joint on a generally opposing side of thebody to the first pivot joint, the second control lever extending alongthe body away from the proximal end and being laterally moveable awayfrom the body about the second pivot joint; receiving one of theoperator's fingers at a input control on an upper surface of the bodyand generally interposed between the finger and thumb grip ends, theinput control having an actuator surface that is angled towards thefinger grip end; producing a first control signal at the interface inresponse to lateral opening and closing movements of the operator'sfinger and thumb causing corresponding lateral movement of the first andsecond control levers; producing a second control signal at theinterface end in response to actuation of the input control; andreceiving a signal from at least one proximity sensor disposed to senseone of the operator's hand grasping the hand grip apparatus and aposition of the operator's hand with respect to the tubular body. 21.The method of claim 20 further comprising receiving the first controlsignal at an input apparatus for controlling a surgical tool, the firstcontrol signal being operable to control opening and closing functionsopen of a jaw of an end effector associated with the surgical tool. 22.The method of claim 21 further comprising receiving the second controlsignal at an input apparatus for controlling a surgical tool, the secondcontrol signal being operable to control additional functions associatedwith the surgical tool.
 23. The method of claim 22 wherein theadditional functions comprise one of: supply of an electrical currentthrough the jaws of the surgical tool for electro-cauterization oftissue; and functions associated with a surgical viewing system forgenerating views of a surgical site.
 24. A hand grip apparatus forreceiving operator input for controlling a surgical tool in a roboticsurgery system, the apparatus comprising: a generally tubular bodyhaving a proximal end shaped to be grasped by a hand of the operator anda distally located interface end operably configured to be coupled to aninput apparatus for controlling the surgical tool; a first control leverattached to the body at a first pivot joint and extending along the bodyaway from the proximal end, the first control lever terminating in afinger grip end configured to receive one of the operator's fingers, thefirst control lever being laterally moveable away from the body aboutthe first pivot joint; a second control lever attached to the body at asecond pivot joint on a generally opposing side of the body to the firstpivot joint, the second control lever extending along the body away fromthe proximal end and terminating in a thumb grip end configured toreceive the operator's thumb, the second control lever being laterallymoveable away from the body about the second pivot joint, whereinmovement of at least one of the first and second control levers isoperable to produce a first control signal representing the movement;and an input control on an upper surface of the body and generallyinterposed between the finger and thumb grip ends, the input controlhaving an actuator surface that is angled towards the finger grip endand angled away from the thumb grip end so that the input control iscloser to the finger grip end than the thumb grip end, the input controlbeing operably configured to produce a second control signal in responseto actuation of the actuator surface by one of the operator's fingers.25. The apparatus of claim 24 wherein movement of the at least one ofthe first and second control levers causes a mechanical movement of alinkage coupled to at least one of the first and second control levers,the first control signal produced in response to the movement of thelinkage.